CN102384717B - Quick orientating method of work space measuring and positioning system by standard rod - Google Patents

Abstract

The invention provides a quick orientating method of a work space measuring and positioning system by a standard rod, which comprises the steps of: calibrating the standard rod; measuring the rotating angle values theta 1 and theta 2 of a rotating table of a transmitting station when two rotating laser planes transmitted out from the transmitting station respectively reach a receiver; obtaining the equation parameter of the rotating light plane equation of the two rotating laser planes transmitted out from the transmitting station under the self coordinate system according to the rotating angle values theta 1 and theta 2 of the rotating table of the transmitting station; and resolving the azimuth angle and the pitch angle of the receiver under the self coordinate system of the transmitting station, so that global orientation is realized, and the like. The method can be used for globally orienting independent of auxiliary equipment, and the positioning and the putting of a work space measuring and positioning system (WMPS) system are not strictly required when the method is used for orientation, so that the use cost of the system can be effectively reduced. One person can complete the field orientation of the WMPS system only within ten minutes by adopting the orientating method provided by the invention, so that the networking measurement efficiency of the WMPS system can be greatly improved, therefore, the quick orientating method is very suitable for industrial fields.

Description

Adopt the work space measurement and positioning system fast orienting method of par

Technical field

The invention belongs to industry spot large scale three-dimensional coordinate measurement technical field, particularly relate to a kind of work space measurement and positioning system fast orienting method that adopts par.

Background technology

Work space measurement and positioning system (WMPS:Workspace Measurement Positioning System) is a kind of novel multipoint network formula interior space measurement and positioning system that grows up for the characteristics of the Large-scale Manufacturing measurement demand such as space flight, aviation, shipbuilding and global measuring control net, can realize the networked high-precision automatic measuring of large scale volume coordinate.Fig. 1 is that the work space measurement and positioning system (i.e. " plane of scanning motion laser space positioning system is measured the structure of network " described work space measurement and positioning system) of prior art forms synoptic diagram.As shown in Figure 1, this WMPS positioning system is mainly by a plurality of cell sites 101, a plurality of receiver 102 with resolve workstation 103 and form, this type systematic adopts the space angle method for automatic measurement based on optoelectronic scanning that single receiver 102 is positioned, cell site 101 is the not responsible receiver coordinate that resolves when work, but by outwards launching the light signal with angle information, for the receiver in the measurement space provides positioning service, thereby finish corresponding computing realization location by resolving workstation 103 at last; Receiver 102 can therefrom obtain from the angle information under each cell site's coordinate system after receiving the light signal that sends cell site 101, after known cell site 101 mutual relationships, as long as there is plural cell site 101 method that just can use angle crosses to calculate the three-dimensional coordinate of receiver 102.

WMPS system crucial preparation process before use is to demarcate rotation matrix and the translation vector that each cell site's 101 coordinate is tied to global coordinate system, and each cell site 101 could be calculated receiver 102 coordinates in that the measurement of angle result under the local Coordinate System is unified under predetermined global measuring coordinate system, this process is called the overall orientation process of WMPS system.In existing orientation method, wish realizes that orientation process needs the at the scene interior measurement reference mark of laying more than 20 of measurement space usually, adopt the equipment such as transit or laser tracker that auxiliary positioning is carried out at the reference mark, to obtain reference mark coordinate approximate value, and the turntable angle when adopting simultaneously WMPS system receiver 102 to measure the inswept reference mark, rotary laser plane of sending each cell site 101, then the angle information structure constraint equation that the coordinate approximate value that measures take utility appliance records in conjunction with receiver 102 as iterative initial value, and adopt optimized algorithm to resolve cell site's 101 rotation matrixs and translation matrix.

In sum, existing WMPS overall situation orientation method seriously relies on utility appliance, and the system that can't realize is from directed, and the occasion needing quickly networking to measure shows following outstanding problem:

(1) since at present this kind overall orientation method of relying on utility appliance need at least two people's compounding practices just can finish, it is longer therefore to finish an orientation time, efficient is extremely low.

(2) simultaneously because the measurement result of the measurement result of WMPS system and utility appliance needs one by one correspondence, many people processing ease produces combination miss, thereby causes resolving failure.

(3) on the other hand, owing to need WMPS system and utility appliance to measure at the place, reference mark simultaneously, therefore the mutual erect-position of two systems being put also has certain requirement during measurement.

Summary of the invention

The object of the present invention is to provide a kind of work space measurement and positioning system fast orienting method that adopts par, solve the low problem of existing directive efficiency in the scaling method that adopts utility appliance that has now.

In order to achieve the above object, the work space measurement and positioning system fast orienting method of employing par provided by the invention comprises the following step that carries out in order:

Step 1 is demarcated par;

Step 2, the turntable rotation angle value θ of cell site when the two rotary laser planes that the measurement cell site sends arrive receiver respectively ₁, θ ₂

Step 3 is according to the turntable rotation angle value θ of cell site ₁, θ ₂Try to achieve the equation parameter of rotating light plane equation under local Coordinate System on two rotary laser planes of sending the cell site;

Step 4 is resolved position angle and the angle of pitch of receiver under cell site's local Coordinate System;

Step 5 is carried out overall situation orientation to the cell site.

Described par is comprised of the par body of rod, signal processing unit, the first receiver and the second receiver; Wherein:

The par body of rod is tubular structure, and its middle part is integrated with signal processing unit, and two ends are separately installed with the first receiver and the second receiver;

Signal processing unit is the data processing unit of the first receiver and the second receiver, also has simultaneously wireless communication function, it can gather separately each receiver time value data and calculate angle information with this, and the angle information that measures sent to by the Zigbee radio sensing network resolves workstation;

The first receiver and the second receiver are the WMPS system receiver, are used for gathering rotary laser planed signal and the pulsed laser signal that the cell site sends.

Described par receiver is made by carbon fiber, invar or stupalith.

In step 5, describedly the cell site carried out the directed method of the overall situation comprise the following step that carries out in order:

1) after arranging the cell site, be installed on the tripod demarcating required par, and par transferred to vertical state, to calculate par to the level of approximation distance of cell site, and the coordinate system of selecting the Tx1 of cell site is as the global measuring coordinate system, and this moment, overall orientation process was namely found the solution all the other each cell site's coordinate systems with respect to rotation matrix and the translation vector of the Tx1 of cell site;

2) finish par and transfer vertically after, the near vertical state of mobile tripod and the bar that maintains the standard, space J position acquisition cell site scanning angle information, J satisfies 4NJ+J＞7N+3J, wherein N is cell site's quantity, and guarantees to have at least between per two cell sites the par of four positions can receive simultaneously two cell site's signals;

3) before resolving each orientation parameter, calculate the coordinate approximate value of par two end-receiver under cell site's coordinate system;

4) calculate the Txn of cell site with respect to the approximate rotational transform of the Tx1 of cell site;

5) calculate the Txn of cell site origin approximate value under the Tx1 of cell site coordinate system;

6) take approximate value as iterative initial value, set up optimization method and be optimized and find the solution, obtain the Txn of cell site with respect to the rotation matrix of the Tx1 of cell site and the exact value of origin, so far whole cell site overall situation orientation process finishes.

The work space measurement and positioning system fast orienting method of employing par provided by the invention does not rely on utility appliance, and to carry out the overall situation directed, and when directed WMPS system erect-position being put does not have strict demand, therefore can effectively reduce system's use cost.It is directed only to need a people can finish the WMPS system for field at tens minutes when adopting orientation method provided by the invention simultaneously, thereby can greatly improve the networking efficient of WMPS systematic survey network, and therefore very suitable industry spot is used.

Description of drawings

Fig. 1 is that the work space measurement and positioning system of prior art forms synoptic diagram.

Fig. 2 is cell site's structural representation of prior art.

Fig. 3 is institute's accepted standard bar structural representation in the work space measurement and positioning system fast orienting method of employing par provided by the invention.

Fig. 4 is Laser emission mathematical model synoptic diagram in the work space measurement and positioning system fast orienting method of employing par provided by the invention.

Fig. 5 is components of system as directed structural representation when nominal data gathers in the work space measurement and positioning system fast orienting method of employing par provided by the invention.

Fig. 6 is that the receiver local coordinate is resolved synoptic diagram in the work space measurement and positioning system fast orienting method of employing par provided by the invention.

Fig. 7 is that synoptic diagram is found the solution in the approximate rotational transform of receiver in the work space measurement and positioning system fast orienting method of employing par provided by the invention.

Fig. 8 is that the difference in level in the work space measurement and positioning system fast orienting method of employing par provided by the invention is found the solution synoptic diagram.

Embodiment

Be elaborated below in conjunction with the work space measurement and positioning system fast orienting method of the drawings and specific embodiments to employing par provided by the invention.

This method is based on " structure that plane of scanning motion laser space positioning system is measured network " described work space measurement and positioning system (being the WMPS system in the described prior art), and utilizes a par to position.Such as Fig. 1-shown in Figure 5, fast orienting method provided by the invention is on the basis of prior art WMPS system, improves for receiver 102, namely replaces the receiver 102 of prior art as receiver with par; Therefore, the WMPS system described in the present invention is except receiver, and other major part is all identical with WMPS system in the prior art.

The work space measurement and positioning system fast orienting method of single par that only adopts provided by the invention comprises the following step that carries out in order:

Step 1, par is demarcated: the structure of par as shown in Figure 3, it is comprised of par body of rod A, signal processing unit B, the first receiver RT and the second receiver RB; Wherein:

Par body of rod A is tubular structure, is made by carbon fiber, invar, the less material of ceramic equitemperature coefficient, is integrated with in the middle signal processing unit B, and two ends are separately installed with the first receiver RT and the second receiver RB; The optical center distance of two receivers is L, can measure the exact value of demarcating L by the outside auxiliary appliance such as bidimensional image instrument, in WMPS system oriented process, with the L value as system's convergent-divergent scale calibration;

Signal processing unit B is the data processing unit of the first receiver RT and the second receiver RB, also has simultaneously wireless communication function, it can gather separately each receiver time value data and calculate angle information with this, and the angle information that measures is sent to and resolves workstation by Zigbee (Zigbee is the synonym of IEEE 802.15.4 agreement) radio sensing network;

The first receiver RT and the second receiver RB are the WMPS system receiver, are used for gathering rotary laser planed signal and the pulsed laser signal that the cell site sends.

Step 2, the two rotary laser plane M1 that the measurement cell site sends, cell site's turntable rotation angle value θ when M2 arrives receiver respectively ₁, θ ₂:

The cell site that adopts in the fast orienting method provided by the invention is identical with the cell site in the prior art, as shown in Figure 2, the used cell site of WMPS system is comprised of turntable and pedestal, its intermediate station mainly is comprised of rotation platform 201 and two laser line generators 202, and pedestal mainly is comprised of pulsed laser 203, optical encoder 204, drive motor 205 and fixed pedestal 206.

Cell site's its upper turntable of when work under the driving of drive motor 205 around counterclockwise at the uniform velocity rotation of stationary shaft 207, simultaneously by two laser line generators 202 outwards emission two restraint rotary laser plane M1 and the rotary laser plane M2 that has each other the certain space angle; Whenever going to the pulsed laser 203 that will trigger in the pedestal in the precalculated position, turntable sends the omnidirectional light pulse as the time synchronized mark light signal of turntable single-revolution rotation starting point; When rotary laser plane M1 or the inswept receiver of M2 or receiver receive the sync mark light signal, the sensor treatment circuit of receiver inside is converted into electric signal with light signal, records time value and resolve cell site's turntable and turn over rotation angle value θ this moment by internal timer simultaneously ₁, θ ₂, then by the Zigbee radio sensing network angle value is sent to and resolves workstation.Resolve workstation with a plurality of cell sites turntable rotation angle value of pick-up transducers record, and calculate the accurate coordinates of receiver this moment with this.

Step 3 is according to the turntable rotation angle value θ of cell site ₁, θ ₂Try to achieve the equation parameter of rotating light plane equation under local Coordinate System on two rotary laser planes of sending the cell site:

As shown in Figure 4, the mathematical model of cell site is non-parallel half-plane and pointolite with fixed frequency transponder pulse light of two rotations of any on common rotating shaft, local Coordinate System is in the complete rear definition of assembling cell site: the intersection point of rotary laser plane M1 and turning axle is cell site's initial point, turning axle is Z axis, X-axis is that initial time (is that turntable goes to the fixed position, the transmitter transponder pulse light time) laser line generator 202 optical axis positions, Y-axis is followed the right-hand rule; Dispatch from the factory and front the turntable angular velocity of rotation ω of separate unit cell site is set, and demarcate two rotary laser plane M1 of cell site, the planar structure parameter (be mainly two planar structure equations) of M2 when turntable goes to initial position; Be in two rotary laser plane M1 of initial position cell site, the rotating light plane equation of M2 is:

$\left\{\begin{array}{c}{a}_1^{\′}x+b_1^{\′}y+c_1^{\′}z+d_1^{\′}=0\\ a_2^{\′}x+b_2^{\′}y+c_2^{\′}z+d_2^{\′}=0\end{array}\right.---\left(1\right)$

As can be known as two rotary laser plane M1 of cell site, when M2 scanning arrived receiver respectively, cell site's turntable turned over angle and is respectively θ by cell site's mathematical model ₁, θ ₂, can try to achieve the cell site's equation parameter of two rotating light plane equations under local Coordinate System and be:

$\left(\begin{array}{c}{a}_m\left({\mathrm{\θ}}_m\right)\\ b_m\left({\mathrm{\θ}}_m\right)\\ c_m\left({\mathrm{\θ}}_m\right)\\ d_m\left({\mathrm{\θ}}_m\right)\end{array}\right)=\left(\begin{array}{cc}R\left({\mathrm{\θ}}_m\right)& 0\\ 0& 1\end{array}\right)\·\left(\begin{array}{c}{a}_m^{\′}\\ b_m^{\′}\\ c_m^{\′}\\ d_m^{\′}\end{array}\right);(m\∈\left(\mathrm{1,2}\right))---\left(2\right)$

At this moment, the vector representation of cell site's optical plane method is:

$n_m=\left(\begin{array}{c}{a}_m\left({\mathrm{\θ}}_m\right)/\sqrt{{a_m}^2\left({\mathrm{\θ}}_m\right)+{b_m}^2\left({\mathrm{\θ}}_m\right)+{c_m}^2\left({\mathrm{\θ}}_m\right)}\\ b_m\left({\mathrm{\θ}}_m\right)/\sqrt{{a_m}^2\left({\mathrm{\θ}}_m\right)+{b_m}^2\left({\mathrm{\θ}}_m\right)+{c_m}^2\left({\mathrm{\θ}}_m\right)}\\ c_m\left({\mathrm{\θ}}_m\right)/\sqrt{{a_m}^2\left({\mathrm{\θ}}_m\right)+{b_m}^2\left({\mathrm{\θ}}_m\right)+{c_m}^2\left({\mathrm{\θ}}_m\right)}\end{array}\right);(m\∈\left(\mathrm{1,2}\right))---\left(3\right)$

Step 4, resolve position angle and the angle of pitch of receiver under cell site's local Coordinate System:

Can guarantee in the manufacture process the approximate and rotary laser plane M1 of rotary laser plane M1 and turning axle intersection point and turning axle intersection point (cell site's initial point) near (＜3mm), draw a ray by cell site's initial point and point to receiver this moment, and angle of pitch β and the horizontal angle azimuth angle alpha of definition receiver under cell site's coordinate system, as shown in Figure 4; The direction vector of supposing ray is r, and r ⊥ n is then arranged when receiver is positioned at the rotary laser plane M1 of this cell site and M2 ₁, r ⊥ n ₂At this moment, can find the solution azimuth angle alpha and the angle of pitch β of receiver under cell site's coordinate system is approximately:

$\left\{\begin{array}{c}r\≈n_2\×n_1;\\ \mathrm{\α}\≈\arctan (r_y/r_z);\\ \mathrm{\β}\≈\arctan (r_z/\sqrt{{r_y}^2+{r_z}^2});\end{array}\right.---\left(4\right)$

Step 5, the cell site is carried out overall situation orientation:

As shown in Figure 5, during the WMPS system works, the cell site generally takes the mode of horizontal setting.When the par direction is parallel with cell site's turning axle, can estimate receiver to the horizontal range between the cell site by cell site's angle measurement function in conjunction with triangle relation.Therefore, par can be transferred to vertical state after cell site's leveling, at coordinate and each cell site's coordinate system transformational relation of diverse location standard of appraisal bar two end-receiver, and resolve cell site's orientation parameter by the light beam error compensation method.Adopt cell site's overall situation orientation of par to need not the utility appliance participations such as transit, mainly comprise data acquisition and resolve two processes, wherein: step 1) and step 2) be data acquisition, mainly finish by cell site and receiver; Step 3)-and step 6) for resolving process, all finish resolving workstation inside; The cell site is carried out the directed method of the overall situation comprises the following step that carries out in order:

1) after arranging the cell site, will demarcate required par and be installed on the tripod, and par will be transferred to vertical state, to calculate par to the level of approximation distance of cell site; When adopting par to carry out cell site's overall situation orientation, select the coordinate system of the Tx1 of cell site as the global measuring coordinate system, this moment, overall orientation process was namely found the solution all the other each cell site's coordinate systems with respect to rotation matrix and the translation vector of the Tx1 of cell site.

2) finish par and transfer vertically after, the near vertical state of mobile tripod and the bar that maintains the standard, space J position acquisition cell site scanning angle information, J satisfies 4NJ+J＞7N+3J, wherein N is cell site's quantity; And guarantee to have at least four location criteria bars can receive simultaneously two cell site's signals between per two cell sites, so far data acquisition is complete, changes overall orientation parameter over to and resolves.

3) before resolving each orientation parameter, need to calculate the coordinate approximate value of par two end-receiver under cell site's coordinate system; Consider that the par direction is approximate parallel with cell site's turning axle, adopt receiver measurement of angle formula (4) can obtain the angle of pitch β of par top receiver RT _TAnd horizontal angle α _T, and the angle of pitch β of par bottom receiver RB _BAnd horizontal angle α _B, as shown in Figure 6; Can get α=α because cell site and receiver are in vertical state together this moment _T≈ α _B, such as the long L of known par, the coordinate (x of par two end-receiver under cell site's coordinate system then _Ty _Tz _T) ^TAnd (x _By _Bz _B) ^TCan be expressed as:

${\left(\begin{array}{ccc}{x}_T& y_T& z_T\end{array}\right)}^T\≈{\left(\begin{array}{ccc}\frac{L\·\cos \mathrm{\α}}{\tan {\mathrm{\β}}_T-\tan {\mathrm{\β}}_B}& \frac{L\·\sin \mathrm{\α}}{\tan {\mathrm{\β}}_T-\tan {\mathrm{\β}}_B}& \frac{L\·\tan {\mathrm{\β}}_T}{\tan {\mathrm{\β}}_T-{\tan \mathrm{\β}}_B}\end{array}\right)}^T---\left(5\right)$

${\left(\begin{array}{ccc}{x}_B& y_B& z_B\end{array}\right)}^T\≈{\left(\begin{array}{ccc}\frac{L\·\cos \mathrm{\α}}{\tan {\mathrm{\β}}_T-\tan {\mathrm{\β}}_B}& \frac{L\·\sin \mathrm{\α}}{\tan {\mathrm{\β}}_T-\tan {\mathrm{\β}}_B}& \frac{L\·\tan {\mathrm{\β}}_B}{\tan {\mathrm{\β}}_T-{\tan \mathrm{\β}}_B}\end{array}\right)}^T---\left(6\right)$

4) calculate the Txn of cell site (n＞1) with respect to the approximate rotational transform of the Tx1 of cell site; As shown in Figure 7: select the coordinate system of the Tx1 of cell site as the global measuring coordinate system, when adopting par to carry out cell site's overall situation orientation, because each cell site's level is put, therefore the rotational transform between different cell sites coordinate system concerns available anglec of rotation approximate description around cell site's Z axis.Suppose that cell site's coordinate system selects gyration θ around self turning axle _RznAfter can make local Coordinate System direction and global coordinate system (Tx1 of cell site coordinate system) direction roughly the same, represent that then the Txn of cell site (n＞1) is q with respect to the hypercomplex number of the approximate rotational transform of the Tx1 of cell site _TXGn(cos (θ _Rzn/ 2), 0,0, sin (θ _Rzn/ 2)).When carrying out data acquisition, because the vertical placement of par is consistent with cell site's axial direction, the XY coordinate of its two-end-point receiver is approximate identical.Utilize this characteristics, can find the solution θ by the horizontal coordinate of two diverse location place par receivers _Rzn, the vector by par position A1 sensing par position A2 in the surface level is v under the Tx1 of cell site coordinate system ₁₂, its deflection is θ ₁₂Under the Txn of cell site coordinate system, be v ' ₁₂, deflection is θ ' ₁₂, anglec of rotation θ then _RznApproximate value is:

${\mathrm{\θ}}_{\mathrm{rzn}}\≈{\mathrm{\θ}}_{12}-{{\mathrm{\θ}}_{12}}^{\′}\≈\arctan \left(\frac{y_{21T}-y_{11T}}{x_{21T}-x_{11T}}\right)-\arctan \left(\frac{y_{2\mathrm{nT}}-y_{1\mathrm{nT}}}{x_{2\mathrm{nT}}-x_{1\mathrm{nT}}}\right)---\left(7\right)$

5) calculate the Txn of cell site (n＞1) origin approximate value under the Tx1 of cell site coordinate system, when during as global coordinate system, as shown in Figure 8, easily asking the difference in level Δ z of the Txn of cell site and the Tx1 of cell site to be expressed as with the Tx1 of cell site coordinate system:

Δz＝tanβ _1T·l ₁-tanβ _nT·l _n (8)

Place respectively in the measurement space diverse location can record the par two-end-point par and be roughly (x in the Txn of cell site coordinate system XY plane internal coordinate _1n, y _1n), internal coordinate is roughly (x on the Tx1 of cell site coordinate system XY plane ₁₁, y ₁₁).Try to achieve Z axis anglec of rotation approximate value θ _RznAfter, the XY origin (x of the Txn of cell site under the Tx1 of cell site coordinate system as can be known _0n, y _0n) be:

$\left\{\begin{array}{c}{x}_{0n}=x_{11}-\cos {\mathrm{\θ}}_{\mathrm{nm}}\·x_{1n}+\sin {\mathrm{\θ}}_{\mathrm{nm}}\·y_{1n}\\ y_{0n}=y_{11}-\sin {\mathrm{\θ}}_{\mathrm{nm}}\·x_{1n}-\cos {\mathrm{\θ}}_{\mathrm{nm}}\·y_{1n}\end{array}\right.---\left(9\right)$

6) take approximate value as iterative initial value, set up optimization method and be optimized and find the solution, obtain the Txn of cell site (n＞1) with respect to the rotation matrix of the Tx1 of cell site and the exact value of origin.Resolve process for ease of analysis, suppose to comprise N platform cell site in timing signal global measuring network, par is furnished with J reference position, and can receive the light signal that whole cell sites send when receiver is positioned at each reference point place.As two floor coefficients of the Txn of cell site are respectively when being positioned at initial position: (a ' _N1, b ' _N1, c ' _N1, d ' _N1) ^T, (a ' _N2, b ' _N2, c ' _N2, d ' _N2) ^T, then it is measured coordinate system plane equation coefficient and is during inswept receiver respectively when two rotary laser planes:

$\left(\begin{array}{c}{a}_{\mathrm{TXGnm}}\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)\\ b_{\mathrm{TXGnm}}\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)\\ c_{\mathrm{TXGnm}}\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)\\ d_{\mathrm{TXGnm}}\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)\end{array}\right)={\left(\begin{array}{cc}{R_{\mathrm{TXGn}}}^T& -{R_{\mathrm{TXGn}}}^T\&CenterDot;{\mathrm{<figure-callout\; id="0"\; label="P\; TXGn"\; filenames="HDA0000083853000000022.png"\; state="\{\{state\}\}">P</figure-callout>}}_{\mathrm{TXGn}}\\ 0& 1\end{array}\right)}^T\&CenterDot;\left(\begin{array}{c}\left(\begin{array}{cc}R\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)& 0\\ 0& 1\end{array}\right)\&CenterDot;\left(\begin{array}{c}{a}_{\mathrm{nm}}^{\&prime;}\\ b_{\mathrm{nm}}^{\&prime;}\\ c_{\mathrm{nm}}^{\&prime;}\\ d_{\mathrm{nm}}^{\&prime;}\end{array}\right)\end{array}\right)$

(m∈(1，2)，n∈N)(10)

Wherein m is scan light plane, cell site sequence number, and n is cell site's sequence number, and footmark TXG represents that this parameter belongs to cell site's parameter of measuring under the coordinate system.A ' _Nm, b ' _Nm, c ' _NmBe the initial arrow direction cosine of optical plane method, the interior any point coordinate (x, y, z) of measurement space this moment can be expressed as to the distance of the optical plane m of the Txn of cell site:

$d_{\mathrm{nm}}=\left|\begin{array}{c}\left(\begin{array}{cccc}{a}_{\mathrm{TXGnm}}\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)& b_{\mathrm{TXGnm}}\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)& c_{\mathrm{TXGnm}}\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)& d_{\mathrm{TXGnm}}\left({\mathrm{\&theta;}}_{\mathrm{nm}}\right)\end{array}\right)\&CenterDot;\left(\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right)\end{array}\right|;(m\&Subset;\left(\mathrm{1,2}\right),n\&Subset;N)---\left(11\right)$

When carrying out Exact Solution, the initial point O of the Tx1 of cell site is the global measuring coordinate origin, when adopting unit quaternion q _TXGn: (q _TXGn1, q _TXGn2, q _TXGn3, q _TXGn4) expression rotation matrix R _TXGThe time, the global measuring network is interior except the Tx1 of cell site, the coordinate P of the Txn of cell site _TXGnAnd rotation hypercomplex number q _TXGnBe the unknown, then each cell site introduces 7 unknown parameters except the Tx1 of cell site.Suppose that two receiver coordinates are respectively P on the par at calibration position i place _RXGjT: (x _RXGjT, y _RXGjT, z _RXGjT) ^T, P _RXGjB: (x _RXGjB, y _RXGjB, z _RXGjB) ^TThe par introducing that then is positioned at j reference position has P _RXGjT, P _RXGjBTotally 6 unknown parameters, this moment, total unknown number was 7 (N-1)+6J, if the receiver at each reference point place can receive the signal that all cell sites send in the network, can list 4NJ just as the equation of constraint of formula (11), as consider the receiver at benchmark two ends and the length constraint of station meter itself, then waiting to solve an equation this moment adds up to 4NJ+J.As long as make 4NJ+J＞7N+3J, equation quantity is just greater than unknown number quantity in the system of equations to be asked, and equation can be separated in theory.Can construct objective function is:

$F_{\mathrm{obj}}(q_{\mathrm{TXGn}},P_{\mathrm{TXGn}},P_{\mathrm{RXGjT}},P_{\mathrm{RXGjB}},\mathrm{\&lambda;})=\underset{j=1}{\overset{j}{\mathrm{\&Sigma;}}}\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}\underset{m=1}{\overset{2}{\mathrm{\&Sigma;}}}({\left(d_{\mathrm{Tjnm}}\right)}^2+{\left(d_{\mathrm{Bjnm}}\right)}^2)$

$-\mathrm{\&lambda;}{[\sqrt{{(x_{\mathrm{RXGjT}}-x_{\mathrm{RXGjB}})}^2+{(y_{\mathrm{RXGjT}}-y_{\mathrm{RXGjB}})}^2+{(z_{\mathrm{RXGjT}}-z_{\mathrm{RXGjB}})}^2}-L]}^2---\left(12\right)$

This objective function is carried out the least square Optimization Solution can obtain each cell site in the orientation parameter optimum solution of measuring under the coordinate system.

So far, whole cell site's overall situation orientation process end.

Claims (2)

1. work space measurement and positioning system fast orienting method that adopts par, it is characterized in that: described fast orienting method comprises the following step that carries out in order:

Step 1 is demarcated par;

Step 2, the first rotary laser plane M1 that the measurement cell site sends, the turntable rotation angle value θ of cell site when the second rotary laser plane M2 arrives receiver respectively ₁, θ ₂

Step 3 is according to the turntable rotation angle value θ of cell site ₁, θ ₂Try to achieve the equation parameter of rotating light plane equation under local Coordinate System on two rotary laser planes of sending the cell site;

Step 4 is resolved position angle and the angle of pitch of receiver under cell site's local Coordinate System;

Step 5 is carried out overall situation orientation to the cell site;

Described par is comprised of the par body of rod (A), signal processing unit (B), the first receiver (RT) and the second receiver (RB); Wherein:

The par body of rod (A) is tubular structure, and its middle part is integrated with signal processing unit (B), and two ends are separately installed with the first receiver (RT) and the second receiver (RB);

Signal processing unit (B) is the data processing unit of the first receiver (RT) and the second receiver (RB), also has simultaneously wireless communication function, it can gather separately each receiver time value data and calculate angle information with this, and the angle information that measures sent to by the Zigbee radio sensing network resolves workstation;

The first receiver (RT) and the second receiver (RB) are the WMPS system receiver, are used for gathering rotary laser planed signal and the pulsed laser signal that the cell site sends;

In step 5, describedly the cell site carried out the directed method of the overall situation comprise the following step that carries out in order:

1) after arranging the cell site, be installed on the tripod demarcating required par, and par transferred to vertical state, to calculate par to the level of approximation distance of cell site, and the coordinate system of selecting the Tx1 of cell site is as the global measuring coordinate system, and this moment, overall orientation process was namely found the solution all the other each cell site's coordinate systems with respect to rotation matrix and the translation vector of the Tx1 of cell site;

2) finish par and transfer vertically after, the near vertical state of mobile tripod and the bar that maintains the standard, space J position acquisition cell site scanning angle information, J satisfies 4NJ+J＞7N+3J, wherein N is cell site's quantity, and guarantees to have at least four location criteria bars can receive simultaneously two cell site's signals between per two cell sites;

3) before resolving each orientation parameter, calculate the coordinate approximate value of par two end-receiver under cell site's coordinate system;

4) calculate the Txn of cell site with respect to the approximate rotational transform of the Tx1 of cell site;

5) calculate the Txn of cell site origin approximate value under the Tx1 of cell site coordinate system;

6) take approximate value as iterative initial value, set up optimization method and be optimized and find the solution, obtain the Txn of cell site with respect to the rotation matrix of the Tx1 of cell site and the exact value of origin, so far whole cell site overall situation orientation process finishes.

2. the work space measurement and positioning system fast orienting method of employing par according to claim 1, it is characterized in that: the described par body of rod (A) is made by carbon fiber, invar or stupalith.

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